Peter Corke

Thanks for the addition. regexp(... 'split') is a useful thing, I was looking for the equivalent of python's split() but didn't find this.

binary_compressed format next?

I've used this module successfully for many years, thanks.

With R2012b I've got problems:

jh = findjobj( slider, 'nomenu');
jh.AdjustmentValueChangedCallback = @(src,event)sliderCallbackFunc(src);

and the second line results in an error

Incorrect number of right hand side elements in dot name assignment. Missing [] around left hand side is a
likely cause.

Anybody else had related problems under R2012b.

Hi,

lzfd.m (run by loadpcd.m) gives this error:

Index exceeds matrix dimensions.
Error in lzfd (line 59)
out(op:op+len-1) = out(ref:ref+len-1);

with this data (compressed binary): http://www.cs.tut.fi/~virtanel/skene2.pcd

Unfortunately I have no other datafiles to test nor time to debug lzfd myself.

Tried on Linux
1) need to replace // with /*
2) variable event not defined

For the binary case, I've written some code to handle the rgb / rgba case. Please feel free to use / modify as needed. I hope this helps.

case 'binary'
startPos_fp = ftell(fp);
numFields = numel(siz);
typeTokens = regexp(type,'\s+','split');
fieldTokens = regexp(fields,'\s+','split');

% Just initialize the xyz portion for now
points = zeros(3, npoints);

for i=1:numFields
% map IUF -> int, uint, float
typeToken = typeTokens{i};
switch typeToken
case 'I'
fmt = 'int';
case 'U'
fmt = 'uint';
case 'F'
fmt = 'float';
end

format = ['*' fmt num2str(siz(i)*8)];
fseek(fp, startPos_fp + sum(siz(1:i-1)), 'bof');
data = fread(fp, [1 npoints], format, sum(siz)-siz(i));

fieldToken = fieldTokens{i};
switch fieldToken
case 'x'
points(1,:) = data;
case 'y'
points(2,:) = data;
case 'z'
points(3,:) = data;
case 'rgb'
rgb = typecast(data, 'uint32');
R = double(bitand(255, bitshift(rgb, 16))) /255;
G = double(bitand(255, bitshift(rgb, 8))) /255;
B = double(bitand(255, rgb)) /255;
points = [points(1:3,:); R; G; B];
case 'rgba'
rgb = typecast(data, 'uint32');
R = double(bitand(255, bitshift(rgb, 24))) /255;
G = double(bitand(255, bitshift(rgb, 16))) /255;
B = double(bitand(255, bitshift(rgb, 8))) /255;
A = double(bitand(255, rgb)) /255;
points = [points(1:3,:); R; G; B];
end
end